base_decoupled_controller.hpp

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#pragma once
 
#include "base_control_solver.hpp"
#include "lateral_controller/map.hpp"
#include "longitudinal_controller/map.hpp"
 
class DecoupledController : public ControlSolver {
  // Controller for throttle
  std::shared_ptr<LateralController> lateral_controller_;
  // Controller for steering
  std::shared_ptr<LongitudinalController> longitudinal_controller_;
public:
  void path_callback(const custom_interfaces::msg::PathPointArray& msg) override;
  void vehicle_state_callback(const custom_interfaces::msg::Velocities& msg) override;
  void vehicle_pose_callback(const custom_interfaces::msg::Pose& msg) override;
  common_lib::structures::ControlCommand get_control_command() override;
  void publish_solver_data(std::shared_ptr<rclcpp::Node> node, std::map<std::string, std::shared_ptr<rclcpp::PublisherBase>>& publisher_map) override;
 
  DecoupledController(const ControlParameters& params);
  virtual ~DecoupledController() = default;
};